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Mantle convection and long-term lithosphere dynamics in the Earth and other planets can be treated as the slow deformation of a highly viscous fluid, and as such can be described using the compressible Navier–Stokes equations. Since on Earth-sized planets the influence of compressibility is not a dominant effect, density deviations from a reference profile are at most on the order of a few percent and using the full governing equations poses numerical challenges, most modelling studies have simplified the governing equations. Common approximations assume a temporally constant, but depth-dependent reference profile for the density (the anelastic liquid approximation), or drop compressibility altogether and use a constant reference density (the Boussinesq approximation). In most previous studies of mantle convection and crustal dynamics, one can assume that the error introduced by these approximations was small compared to the errors that resulted from poorly constrained material behaviour and limited numerical accuracy. However, as model parametrizations have become more realistic, and model resolution has improved, this may no longer be the case and the error due to using simplified conservation equations might no longer be negligible: while such approximations may be reasonable for models of mantle plumes or slabs traversing the whole mantle, they may be unsatisfactory for layered materials experiencing phase transitions or materials undergoing significant heating or cooling. For example, at boundary layers or close to dynamically changing density gradients, the error arising from the use of the aforementioned compressibility approximations can be the dominant error source, and common approximations may fail to capture the physical behaviour of interest. In this paper, we discuss new formulations of the continuity equation that include dynamic density variations due to temperature, pressure and composition without using a reference profile for the density. We quantify the improvement in accuracy relative to existing formulations in a number of benchmark models and evaluate for which practical applications these effects are important. Finally, we consider numerical aspects of the new formulations. We implement and test these formulations in the freely available community software aspect , and use this code for our numerical experiments. [ABSTRACT FROM AUTHOR]

Modelling the porous flow of melt through a viscously deforming solid rock matrix is a useful tool for interpreting observations from the Earth's surface, and advances our understanding of the dynamics of the Earth's interior. However, the system of equations describing this process becomes mathematically degenerate in the limit of vanishing melt fraction. Numerical methods that do not consider this degeneracy or avoid it solely by regularizing specific material properties generally become computationally expensive as soon as the melt fraction approaches zero in some part of the domain. Here, we present a new formulation of the equations for coupled magma/mantle dynamics that addresses this problem, and allows it to accurately compute large-scale 3-D magma/mantle dynamics simulations with extensive regions of zero melt fraction. We achieve this by rescaling one of the solution variables, the compaction pressure, which ensures that for vanishing melt fraction, the equation causing the degeneracy becomes an identity and the other two equations revert to the Stokes system. This allows us to split the domain into two parts: in mesh cells where melt is present, we solve the coupled system of magma/mantle dynamics. In cells without melt, we solve the Stokes system as it is done for mantle convection without melt transport and constrain the remaining degrees of freedom. We have implemented this formulation in the open source geodynamic modelling code Aspect and illustrate the improved performance compared to the previous three-field formulation, showing numerically that the new formulation is robust in terms of problem size and only slightly sensitive to model parameters. Beyond that, we demonstrate the applicability to realistic problems by showing large-scale 2-D and 3-D models of mid-ocean ridges with complex rheology. Hence, we believe that our new formulation and its implementation in Aspect will prove a valuable tool for studying the interaction of melt segregating through and interacting with a solid host rock in the Earth and other planetary bodies using high-resolution, 3-D simulations. [ABSTRACT FROM AUTHOR]

Computations have helped elucidate the dynamics of Earth's mantle for several decades already. The numerical methods that underlie these simulations have greatly evolved within this time span, and today include dynamically changing and adaptively refined meshes, sophisticated and efficient solvers, and parallelization to large clusters of computers. At the same time, many of the methods - discussed in detail in a previous paper in this series - were developed and tested primarily using model problems that lack many of the complexities that are common to the realistic models our community wants to solve today. With several years of experience solving complex and realistic models, we here revisit some of the algorithm designs of the earlier paper and discuss the incorporation of more complex physics. In particular, we re-consider time stepping and mesh refinement algorithms, evaluate approaches to incorporate compressibility, and discuss dealing with strongly varying material coefficients, latent heat, and how to track chemical compositions and heterogeneities. Taken together and implemented in a high-performance, massively parallel code, the techniques discussed in this paper then allow for high resolution, 3-D, compressible, global mantle convection simulations with phase transitions, strongly temperature dependent viscosity and realistic material properties based on mineral physics data. [ABSTRACT FROM AUTHOR]

Melt generation and migration are an important link between surface processes and the thermal and chemical evolution of the Earth's interior. However, their vastly different timescales make it difficult to study mantle convection and melt migration in a unified framework, especially for 3-D global models. And although experiments suggest an increase in melt volume of up to 20 per cent from the depth of melt generation to the surface, previous computations have neglected the individual compressibilities of the solid and the fluid phase. Here, we describe our extension of the finite element mantle convection code ASPECT that adds melt generation and migration. We use the original compressible formulation of the McKenzie equations, augmented by an equation for the conservation of energy. Applying adaptive mesh refinement to this type of problems is particularly advantageous, as the resolution can be increased in areas where melt is present and viscosity gradients are high, whereas a lower resolution is sufficient in regions without melt. Together with a high-performance, massively parallel implementation, this allows for high-resolution, 3-D, compressible, global mantle convection simulations coupled with melt migration. We evaluate the functionality and potential of this method using a series of benchmarks and model setups, compare results of the compressible and incompressible formulation, and show the effectiveness of adaptive mesh refinement when applied to melt migration. Our model of magma dynamics provides a framework for modelling processes on different scales and investigating links between processes occurring in the deep mantle and melt generation and migration. This approach could prove particularly useful applied to modelling the generation of komatiites or other melts originating in greater depths. The implementation is available in the Open Source ASPECT repository. [ABSTRACT FROM AUTHOR]

SUMMARY Numerical simulation of the processes in the Earth's mantle is a key piece in understanding its dynamics, composition, history and interaction with the lithosphere and the Earth's core. However, doing so presents many practical difficulties related to the numerical methods that can accurately represent these processes at relevant scales. This paper presents an overview of the state of the art in algorithms for high-Rayleigh number flows such as those in the Earth's mantle, and discusses their implementation in the Open Source code Aspect (Advanced Solver for Problems in Earth's ConvecTion). Specifically, we show how an interconnected set of methods for adaptive mesh refinement (AMR), higher order spatial and temporal discretizations, advection stabilization and efficient linear solvers can provide high accuracy at a numerical cost unachievable with traditional methods, and how these methods can be designed in a way so that they scale to large numbers of processors on compute clusters. Aspect relies on the numerical software packages deal.II and Trilinos, enabling us to focus on high level code and keeping our implementation compact. We present results from validation tests using widely used benchmarks for our code, as well as scaling results from parallel runs. [ABSTRACT FROM AUTHOR]